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ICRA
2008
IEEE
14 years 4 months ago
2008
IEEE
Abstract— We study optimal trajectory generation for nonholonomic mobile robots in the presence of moving obstacles. The trajectory is presented by a parameterized higher-order p...
ICRA
2007
IEEE
14 years 4 months ago
2007
IEEE
— The present paper introduces an evaluation of the manipulation performance of a robotic arm with respect to control accuracy and mechanical efficiency, taking into considerati...
ICRA
2002
IEEE
14 years 3 months ago
2002
IEEE
— This paper proposes a novel identification technique of constraint condition that the environment imposes on the robot’s end-effector, based on position and force sensing d...
ICRA
2000
IEEE
14 years 2 months ago
2000
IEEE
This paper applies Pontryagin’s Maximum Principle to the time optimal control of differential drive mobile robots with velocity bounds. The Maximum Principle gives necessary con...
ROBOCUP
1999
Springer
14 years 2 months ago
1999
Springer
This paper describes the CMUnited-99 small-size robot team. The team builds on our previous RoboCup champion teams (’97 and ’98). The team reuses much of the hardware, percepti...